CN112577710A - Angle of attack motion mechanism and angle of attack adjustment method - Google Patents
Angle of attack motion mechanism and angle of attack adjustment method Download PDFInfo
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- CN112577710A CN112577710A CN202110210762.4A CN202110210762A CN112577710A CN 112577710 A CN112577710 A CN 112577710A CN 202110210762 A CN202110210762 A CN 202110210762A CN 112577710 A CN112577710 A CN 112577710A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
Abstract
The invention is suitable for the technical field of wind tunnel tests and provides an attack angle movement mechanism and an attack angle adjusting method, wherein the adjusting method of the attack angle movement mechanism comprises the following steps: when the attack angle of the test model is 0, calculating the included angle between the first connecting line and the tail connecting rod and recording the included angle asβThe first connecting line is a connecting line between the second position of the portal frame and the first position of the portal frame; obtaining the set value of the attack angle of the test modelαAnd speed of change of angle of attackΔα(ii) a According to the angle of attack set value of the test modelαAnd speed of change of angle of attackΔαCalculating the given rotation speed of the motorn(ii) a Adjusting angle of attack measurements of a test modelα 1 Making angle of attack measurements of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 ‑α|≤ηWherein, in the step (A),ηfor the angle of attack tolerance, measured by an angle of attack encoderAngle of attack measurement of a test modelα 1 . The angle of attack movement mechanism and the adjusting method of the angle of attack movement mechanism can ensure that the precision of the angle of attack adjustment is higher.
Description
Technical Field
The invention belongs to the technical field of wind tunnel tests, and particularly relates to an attack angle movement mechanism and an attack angle adjusting method.
Background
In a wind tunnel test, a test model is required to be supported in an airflow flow field, the attack angle of the test model is simulated, and a support system is required to realize continuous change and high-precision positioning control of the attack angle of the test model.
For fixed-wing aircraft, the angle of attack, which is an important parameter in determining the attitude of a fixed-wing aircraft, is the angle between the wing and the direction of the airflow and the angle between the wing chord and the fuselage axis. The model support mode commonly used includes that the abdomen props, the tail boom, the back of the body props and is applicable to the opening line support etc. of open test section, no matter what kind of support mode adopts, all requires model attitude angle continuous variation on a large scale, and the accurate control of angle supports stably, and is little to the influence of air current field.
In the prior art, the adjustment of the attack angle is usually based on an encoder of a motor, however, the encoder of the motor cannot truly reflect the attack angle, and a conversion error exists in the middle, so that the adjustment precision of the attack angle in the prior art is poor.
Disclosure of Invention
The invention aims to provide an attack angle movement mechanism and an attack angle adjusting method, and aims to solve the technical problem that the attack angle adjusting precision is poor in the prior art.
In a first aspect, the present invention provides an angle-of-attack movement mechanism, which includes a gantry, a main supporting rod, a tail connecting rod, a spiral elevator, and an angle-of-attack encoder, where the main supporting rod and the tail supporting rod are both distributed in a vertical direction, and where:
the spiral elevator comprises a driving mechanism and a driving shaft, wherein the driving mechanism comprises a motor encoder, a motor and a speed reducer which are sequentially connected, and an output shaft of the speed reducer is connected with the driving shaft;
the first end of the main supporting rod is hinged with the first position of the test model, and the second end of the main supporting rod is fixedly connected with the portal frame;
the first end of the tail stay bar is hinged with the second position of the test model, and the second end of the tail stay bar is hinged with the first end of the tail connecting rod;
the second end of the tail connecting rod is hinged with the first end of the driving shaft, the second end of the driving shaft is hinged with the first position of the portal frame, and the tail connecting rod is hinged with the second position of the portal frame;
the second position of the portal frame and the main supporting rod are on the same vertical line, the attack angle encoder is arranged at the second position of the portal frame, and a connecting line between the first position of the test model and the second position of the test model is parallel to the tail connecting rod.
In a second aspect, the present invention provides a method for adjusting an angle-of-attack movement mechanism, which includes the following steps:
step S10: when the attack angle of the test model is 0, calculating the included angle between the first connecting line and the tail connecting rod and recording the included angle asβThe first connecting line is a connecting line between the second position of the portal frame and the first position of the portal frame;
step S20: obtaining the set value of the attack angle of the test modelαAnd speed of change of angle of attackΔα；
Step S30: according to the angle of attack set value of the test modelαAnd speed of change of angle of attackΔαCalculating the given rotation speed of the motorn；
Step S40: adjusting angle of attack measurements of a test modelα 1 Making angle of attack measurements of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 -α|≤ηWherein, in the step (A),ηfor the purpose of allowing the error of the attack angle, the attack angle measured value of the test model is measured by an attack angle encoderα 1 ；
Further, the step S30 includes the following steps:
step S31: when sign (α) Given speed of motor at 1nIs calculated as follows:
wherein the content of the first and second substances,mfor the reduction ratio of the speed reducer,sis a lead of the spiral elevator,l 1 is the length of the first wire or wires,l 2 is the length between the second position of the gantry and the second end of the tail link.
Further, the step S30 includes the following steps:
step S32: when sign (α) Given speed of motor at = -1nIs calculated as follows:
further, the step S40 includes the following steps:
step S41: under the motor speed closed-loop control mode, the measured value of the attack angle of the test model is usedα 1 Angle of attack set value with test modelαSatisfy the requirement ofα 1 /α=σWherein, in the step (A),σis a given percentage;
step S42: under the closed-loop control mode of the attack angle position, enabling the attack angle measured value of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 -α|≤η。
Further, in the step S40, pass throughα 1 -αThe value of | controls the actual rotation speed of the motorn 1 Actual rotational speed of the motorn 1 Measured by a motor encoder.
Further, when-α 1 -αWhen | ≧ 5 ℃, the motor rotates at a given speednRunning; when the angle is 5 degrees>|α 1 -αWhen | ≧ 2 ℃, the motor rotates at a given speedn50% run; when 2 degrees>|α 1 -αWhen | ≧ 1 ℃, the motor rotates at a given speedn20% run; when the oxygen deficiency is reachedα 1 -αWhen | < 0.1 ℃, the motor rotates at a given speednRun at 5%.
Compared with the prior art, the invention at least has the following technical effects:
1. in the invention, the second position of the portal frame and the main support rod are on the same vertical line, and the connecting line between the first position of the test model and the second position of the test model is parallel to the tail connecting rod, so that the angle of the tail connecting rod represents the attack angle of the test model, and the attack angle encoder is arranged at the second position of the portal frame, so that the true value (namely the measured value) of the attack angle of the test model can be directly measured by the attack angle encoder, therefore, the measurement precision of the attack angle of the test model is higher, and the precision of the adjustment of the attack angle of the test model is higher as the result, in the prior art, the position feedback of the attack angle is carried out only by the motor encoder, and the prior art has larger error;
2. in the invention, the given rotating speed of the motor can be obtained by calculation according to the given value and the change speed of the attack angle, and whether the actual attack angle reaches the given value or not is judged, and the given rotating speed can be directly measured by an attack angle encoder, so that the precision of the adjustment of the attack angle of the test model is also higher;
3. in the invention, different adjustment strategies are adopted in different adjustment stages, so that the adjustment efficiency can be ensured, and the adjustment precision can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an angle of attack movement mechanism according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an adjusting method of an angle of attack movement mechanism according to a second embodiment of the present invention;
FIG. 3 is a simplified diagram of the experimental model at an angle of attack of 0;
FIG. 4 is a given value of angle of attackαA positive state;
FIG. 5 is a given value of angle of attackαA negative state.
Detailed Description
Aspects of the present invention will be described more fully hereinafter with reference to the accompanying drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to any specific structure or function presented throughout this disclosure. Rather, these aspects are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Based on the teachings herein one skilled in the art should appreciate that the scope of the present invention is intended to encompass any aspect disclosed herein, whether alone or in combination with any other aspect of the invention to accomplish any aspect disclosed herein. For example, it may be implemented using any number of the apparatus or performing methods set forth herein. In addition, the scope of the present invention is intended to cover apparatuses or methods implemented with other structure, functionality, or structure and functionality in addition to the various aspects of the invention set forth herein. It is to be understood that any aspect disclosed herein may be embodied by one or more elements of a claim.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or modes, but do not preclude the presence or addition of one or more other features, steps, operations, or modes.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
Example one
As shown in fig. 1, a schematic view of an angle-of-attack movement mechanism according to a first embodiment of the present invention is provided, the angle-of-attack movement mechanism according to the first embodiment of the present invention includes a gantry 10, a main strut 20, a tail strut 30, a tail link 40, a spiral elevator 50, and an angle-of-attack encoder 70, the main strut 20 and the tail strut 30 are both distributed in a vertical direction, wherein,
the spiral elevator 50 comprises a driving mechanism 60 and a driving shaft, wherein the driving mechanism 60 comprises a motor encoder 61, a motor 62 and a speed reducer 63 which are sequentially connected, and an output shaft of the speed reducer 63 is connected with the driving shaft;
under the driving and transmission of the motor 62 and the reducer 63, the driving shaft can extend outwards or retract inwards, and in the process, the driving shaft can push the second end of the tail connecting rod 40 to rotate around the second position A4 of the portal frame 10, and the driving shaft can rotate around the first position A3 of the portal frame 10;
the first end 21 of the main supporting rod 20 is hinged with a first position A1 of the experimental model W, and the second end 22 of the main supporting rod 20 is fixedly connected with the portal frame 10;
the first end 31 of the tail stay 30 is hinged with the second position A2 of the test model W, and the second end 32 of the tail stay 30 is hinged with the first end 41 of the tail connecting rod 40;
the second end 42 of the tail link 40 is hinged to the first end 64 of the driving shaft, the second end 65 of the driving shaft is hinged to the first position A3 of the portal frame 10, and the tail link 40 is hinged to the second position A4 of the portal frame 10;
the second position a4 of the gantry 10 is on the same vertical line with the main supporting rod 20, the attack angle encoder 70 is arranged at the second position a4 of the gantry 10, and a connecting line A1a2 between the first position A1 of the test model W and the second position a2 of the test model W is parallel to the tail link 40.
The first position A1 of the test model W, the second position A2 of the test model W, the intersection point of the tail brace 30 and the tail connecting rod 40 and the second position A4 of the portal frame 10 form a corner point of a parallelogram, that is, a parallelogram mechanism is formed by the main brace 20, the test model W, the tail brace 30, the first end of the tail connecting rod 40 and the second position A4 of the portal frame 10;
a swing mechanism is formed by the part between the second end of the tail connecting rod 40 and the second position A4 of the portal frame 10 and the spiral lifter 50;
in the first embodiment of the present invention, the second position a4 of the gantry 10 is on the same vertical line as the main brace 20, and the connecting line A1a2 between the first position A1 of the test model W and the second position a2 of the test model W is parallel to the tail link 40, so the angle of the tail link 40 represents the attack angle of the test model, and in the first embodiment of the present invention, the attack angle encoder 70 is disposed at the second position a4 of the gantry 10, so the actual value (i.e. the measured value) of the attack angle of the test model can be directly measured by the attack angle encoder 70, and therefore, the measurement accuracy of the attack angle of the test model is higher, and the adjustment accuracy of the attack angle of the test model is also higher.
Example two
As shown in fig. 2, which is a schematic view of an adjusting method of an angle of attack movement mechanism according to a second embodiment of the present invention, the adjusting method of an angle of attack movement mechanism according to the second embodiment of the present invention includes the following steps:
step S10: when the attack angle of the test model is 0, calculating the included angle between the first connecting line and the tail connecting rod 40 and recording the included angle asβThe first connecting line is the second position A4 of the portal frame 10 and the first position of the portal frame 10A connection between A3;
FIG. 3 is a simplified diagram of the experimental model at an angle of attack of 0, with the tail link 40 in a horizontal position;
step S20: obtaining the set value of the attack angle of the test modelαAnd speed of change of angle of attackΔα；
Angle of attack set value of test modelαThere are two patterns as shown in fig. 4 and 5, wherein fig. 4 is given value of attack angleαIn a positive state, FIG. 5 shows the given value of the angle of attackαNegative state with respect to fig. 3-5l 1 Andl 2 the meaning of (a) is explained below.
Step S30: according to the angle of attack set value of the test modelαAnd speed of change of angle of attackΔαCalculating the given speed of the motor 62n；
Step S40: adjusting angle of attack measurements of a test modelα 1 Making angle of attack measurements of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 -α|≤ηWherein, in the step (A),ηfor the error allowance of the angle of attack, the angle of attack measured value of the test model is measured by the angle of attack encoder 70α 1 ；
The method for adjusting an angle of attack movement mechanism provided in the second embodiment of the present invention is used for adjusting an angle of attack movement mechanism in the first embodiment of the present invention, and details about the structure of the angle of attack movement mechanism are not repeated.
In the second embodiment of the present invention, the actual value (i.e., the measured value) of the attack angle of the test model can be directly measured by the attack angle encoder 70, so that the measurement accuracy of the attack angle of the test model is higher, and the accuracy of the adjustment of the attack angle of the test model performed according to the measurement accuracy is also higher.
Further, the step S30 includes the following steps:
step S31: when in usesign(α) Given rotation speed of the motor 62 at =1nIs calculated as follows:
wherein the content of the first and second substances,mfor the reduction ratio of the speed reducer,sis a lead of the spiral elevator,l 1 is the length of the first wire or wires,l 2 is the length between the second position a4 of the gantry 10 and the second end 42 of the tail link 40.
The derivation process is as follows:
as shown in fig. 4, whensign(α) When =1, the given value of the angle of attack is indicatedαIs positive, so the length of the drive shaft at this timek2(i.e., the length between the first end 64 and the second end 65 of the drive shaft in FIG. 4) is:
let the length of the drive shaft in fig. 3 bek 1 (i.e., the length between the first end 64 and the second end 65 of the drive shaft in FIG. 3), therefore, when the angle of attack of the experimental model is changed from 0 to the given angle of attack value in FIG. 4αWhen the driving shaft is extendedΔk= k 2 -k 1 Thus, the number of revolutions of the motoryComprises the following steps:
due to the fact thatk 1 Is constant, and therefore, the given rotational speed of the motor is calculated as:
Further, the step S30 includes the following steps:
step S32: when sign (α) Given speed of the motor 62 when = -1nIs calculated as follows:
the derivation process is as follows:
as shown in fig. 5, whensign(α) When =1, indicates the given value of the angle of attackαIs negative, and therefore, the length of the drive shaft at this timek 3 (i.e., the length between the first end 64 and the second end 65 of the drive shaft in FIG. 5) are:
therefore, when the attack angle of the experimental model is changed from 0 to the given value of the attack angle in FIG. 5αWhen the drive shaft shortensΔk= k 1 -k 3 Thus, the number of revolutions of the motoryComprises the following steps:
due to the fact thatk 1 Is constant, and therefore, the given rotational speed of the motor is calculated as:
as can be seen from steps S31 and S32, the given rotation speed of the motor 62nCan be set according to the angle of attackαAnd speed of change of angle of attackΔαThe calculation result is obtained, and whether the actual attack angle reaches the given value of the attack angle or not is judged, which can be obtained by directly measuring through the attack angle encoder 70, so that the precision of the adjustment of the attack angle of the test model is also higher.
Further, the step S40 includes the following steps:
step S41: in motor speed closed-loop control modeLet the angle of attack measurements of the test modelα 1 Angle of attack set value with test modelαSatisfy the requirement ofα 1 /α=σWherein, in the step (A),σis a given percentage;
under the motor speed closed-loop control mode, the attack angle measurement value of the test model can be quickly obtainedα 1 Angle of attack set point near experimental modelαTo improve the efficiency of the adjustment, preferably,σ=90%。
step S42: under the closed-loop control mode of the attack angle position, enabling the attack angle measured value of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 -α|≤η。
Under the closed-loop control mode of the attack angle position, the attack angle measured value of the test model can be accurately measuredα 1 Angle of attack set point near experimental modelαTo improve the accuracy of the adjustment, the adjustment is preferably,η=0.05º。
further, in the step S40, pass throughα 1 -αThe value of | controls the actual speed of the motor 62n 1 Actual rotational speed of the motor 62n 1 Measured by the motor encoder 61.
Specifically, when-α 1 -αWhen | ≧ 5 ℃, the motor 62 rotates at a given speednRunning; when the angle is 5 degrees>|α 1 -αWhen | ≧ 2 ℃, the motor 62 rotates at a given speedn50% run; when 2 degrees>|α 1 -αWhen | ≧ 1 ℃, the motor 62 rotates at a given speedn20% run; when the oxygen deficiency is reachedα 1 -αWhen | ≦ 0.1 °, the motor 62 rotates at a given speednRun at 5%.
Under this setting, can improve adjustment accuracy, can improve adjustment efficiency again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. An attack angle movement mechanism is characterized by comprising a portal frame (10), a main support rod (20), a tail support rod (30), a tail connecting rod (40), a spiral elevator (50) and an attack angle encoder (70), wherein the main support rod (20) and the tail support rod (30) are distributed towards the vertical direction,
the spiral elevator (50) comprises a driving mechanism (60) and a driving shaft, wherein the driving mechanism (60) comprises a motor encoder (61), a motor (62) and a speed reducer (63) which are sequentially connected, and an output shaft of the speed reducer (63) is connected with the driving shaft;
the first end (21) of the main supporting rod (20) is hinged with the first position (A1) of the test model (W), and the second end (22) of the main supporting rod (20) is fixedly connected with the portal frame (10);
the first end (31) of the tail stay bar (30) is hinged with the second position (A2) of the test model (W), and the second end (32) of the tail stay bar (30) is hinged with the first end (41) of the tail connecting bar (40);
the second end (42) of the tail link (40) is hinged to the first end (64) of the drive shaft, the second end (65) of the drive shaft is hinged to the first position (A3) of the gantry (10), and the tail link (40) is hinged to the second position (A4) of the gantry (10);
the second position (A4) of the portal frame (10) and the main supporting rod (20) are on the same vertical line, the attack angle encoder (70) is arranged at the second position (A4) of the portal frame (10), and a connecting line (A1A 2) between the first position (A1) of the test model (W) and the second position (A2) of the test model (W) is parallel to the tail connecting rod (40).
2. A method of adjusting an angle of attack kinematic mechanism according to claim 1, comprising the steps of:
step S10: when the attack angle of the test model isWhen 0, calculating the included angle between the first connecting line and the tail connecting rod (40) and recording asβ-said first line is a line between the second position (a 4) of the gantry (10) and the first position (A3) of the gantry (10);
step S20: obtaining the set value of the attack angle of the test modelαAnd speed of change of angle of attackΔα；
Step S30: according to the angle of attack set value of the test modelαAnd speed of change of angle of attackΔαCalculating a given rotational speed of the motor (62)n；
Step S40: adjusting angle of attack measurements of a test modelα 1 Making angle of attack measurements of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 -α|≤ηWherein, in the step (A),ηfor the purpose of allowing the error of the angle of attack, the angle of attack measured value of the test model is measured by an angle of attack encoder (70)α 1 。
3. The adjusting method of an angle of attack movement mechanism according to claim 2, wherein the step S30 includes the steps of:
step S31: when sign (α) Set rotation speed of motor (62) when =1nIs calculated as follows:
wherein the content of the first and second substances,mfor the reduction ratio of the speed reducer,sis a lead of the spiral elevator,l 1 is the length of the first wire or wires,l 2 is the length between the second position (a 4) of the gantry (10) and the second end (42) of the tail link (40).
4. The adjusting method of an angle of attack movement mechanism according to claim 3, wherein the step S30 includes the steps of:
step S32: when in usesign(α) Given rotational speed of the electric motor (62) when =1nIs calculated as follows:
5. the adjusting method of an angle of attack movement mechanism according to claim 3, wherein the step S40 includes the steps of:
step S41: under the motor speed closed-loop control mode, the measured value of the attack angle of the test model is usedα 1 Angle of attack set value with test modelαSatisfy the requirement ofα 1 /α=σWherein, in the step (A),σis a given percentage;
step S42: under the closed-loop control mode of the attack angle position, enabling the attack angle measured value of the test modelα 1 Angle of attack set value with test modelαSatisfy the following equationα 1 -α|≤η。
6. The method of claim 5, wherein in step S40, pass throughα 1 -αThe value of | controls the actual speed of the motor (62)n 1 Actual rotational speed of the motor (62)n 1 Measured by a motor encoder (61).
7. The method of claim 6, wherein the incident angle movement mechanism is not inclined whenα 1 -αWhen | ≧ 5 ℃, the motor (62) rotates at a given speednRunning; when the angle is 5 degrees>|α 1 -αWhen | ≧ 2 ℃, the motor (62) rotates at a given speedn50% run; when 2 degrees>|α 1 -αWhen | ≧ 1 ℃, the motor (62) rotates at a given speedn20% run; when the oxygen deficiency is reachedα 1 -αWhen | < 0.1 ℃, the motor (62) rotates at a given speednRun at 5%.
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